CN108646778B - A kind of non-linear Auto-disturbance-rejection Control of VTOL Reusable Launch Vehicles - Google Patents
A kind of non-linear Auto-disturbance-rejection Control of VTOL Reusable Launch Vehicles Download PDFInfo
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- CN108646778B CN108646778B CN201810790014.6A CN201810790014A CN108646778B CN 108646778 B CN108646778 B CN 108646778B CN 201810790014 A CN201810790014 A CN 201810790014A CN 108646778 B CN108646778 B CN 108646778B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Abstract
The present invention proposes a kind of non-linear Auto-disturbance-rejection Control of VTOL Reusable Launch Vehicles, it is the following steps are included: step 1: Attitude control model is established；Step 2: TD Nonlinear Tracking Differentiator design；Step 3: nonlinear extension state observer design；Step 4: non-linear Auto-disturbance-rejection Controller Design；Step 5: nonlinear Feedback Control rule design.The present invention is proposed for the disadvantages of existing automatic disturbance rejection controller posture response time is longer, noise resisting ability is weak and attitude control accuracy is lower, non-linear TD Nonlinear Tracking Differentiator, set time convergent extended state observer and nonlinear Feedback Control the rule combination of finite time convergence control characteristic are together formed into novel non-linear automatic disturbance rejection controller, to improve system to complex external interference rejection capability, while also improving attitude control accuracy and response speed.
Description
Technical field
The invention belongs to flying vehicles control technical fields, and in particular to a kind of VTOL Reusable Launch Vehicles it is non-thread
Property Auto-disturbance-rejection Control.
Background technique
VTOL Reusable Launch Vehicles are after boosting flight terminates a second-order separation, wherein two sub- grades will transport
Defeated payload is until enter the orbit, and a sub- grade will quickly carry out big pose adjustment after isolation (pitch angle adjusts amplitude can be from 30 °
Change to 180 °), and then slow down for subsequent segment main engine ignition of repairing to correct voyage and guarantee good ignition angle.It is adjusting
Appearance inflight phase, since flying height is lower (60~160km), thus there are atmospheric interference, upper-level winds interference, the big overturnings of posture to draw
The liquid propellant large-amplitude sloshing risen influences and many factors such as external complex flight environment of vehicle interference.The inflight phase executes machine simultaneously
Structure is reaction gas ejecting system (RCS), can only provide limited control moment, thus the inflight phase Attitude Control System Design has
There is larger difficulty, need to overcome complicated internal and external interference torque, and guarantees the fast and stable tracking of posture.It needs to design a kind of high
Precision, fast-response, strong robust and adaptive attitude control method, this is for VTOL Reusable Launch Vehicles recovery technology
With important research significance.
By carrying out retrieval analysis to prior art document, automatic disturbance rejection controller is broadly divided into linear active disturbance rejection control at present
Two class of device and non-linear automatic disturbance rejection controller.Wherein differential mainly is tracked using linear TD in linear active disturbance rejection controller
The combination of device, linear extended state observer and linear Feedback Control rule, to design corresponding controller.Zhou Hong et al. is directed to
Generally existing control input constraint problem is proposed the error of controller output and actuator output in actual industrial process
It is fed back, can quickly eliminate the saturation problem of linear active disturbance rejection controller.Sweet smell et al. of laying on colors passes through depression of order and approximation process
By feedback controller/extended state observer Assignment of Closed-Loop Poles in same position, to complete linear active disturbance rejection controller
Parameter adjustment.Since control structure is simple, parameter adjustment is easy linear active disturbance rejection controller, can be commonly used in conjunction in Practical Project
Frequency domain analysis complete the design of control parameter, thus be widely used in actual industrial process.However linear active disturbance rejection
There is also systems to be easily saturated for controller, control response speed is compared with the disadvantages of slow, control precision is poor and robustness is not high.Rather than
Linear active disturbance rejection controller mainly utilizes existing a variety of nonlinear function characteristics, can obtain the non-of more horn of plenty design result
Linear TD Nonlinear Tracking Differentiator, nonlinear extension state observer and nonlinear Feedback Control rule.If the level ground Xu Qiu is for gliding guidance
There is the overload tracking problem not known in the case of inside and outside disturbance and angle of rudder reflection instruction response lag in shell control system, if
Non-linear automatic disturbance rejection controller has been counted, has had many advantages, such as that structure is simple, calculation amount is small, parameter adjustment is few.Zhou great Wang is directed to guided missile
The uncertainty and damp constraint problem that model has simultaneously, design theoretical in conjunction with back stepping control and finite time convergence control
The non-linear automatic disturbance rejection controller of finite time convergence control, achieves with good control performance.However it is above-mentioned it is non-linear from
Disturbance rejection control device still remains that anti-noise jamming ability is poor, can only guarantee finite time convergence control (larger by initial value affecting), posture
Response speed is compared with the disadvantages of slow, control precision is poor and robustness is to be improved.
Summary of the invention
The invention aims to solve VTOL Reusable Launch Vehicles in posture adjustment section flight, there are complex externals
Posture fast and stable tracking control problem under uncertain disturbed condition, provides a kind of VTOL Reusable Launch Vehicles
Non-linear Auto-disturbance-rejection Control.
The purpose of the present invention is achieved through the following technical solutions: a kind of VTOL Reusable Launch Vehicles it is non-linear from
Disturbance rejection control method, comprising the following steps:
Step 1: the force analysis for VTOL Reusable Launch Vehicles posture adjustment section is as a result, establish its posture power
Model and attitude kinematics model are learned, and defines attitude angle and dominant vector, and then establish the posture of Second Order state space form
Controlling model；
Step 2: VTOL Reusable Launch Vehicles posture adjustment section directly gives program angle and guidances command, guidance command for
It arranges the transient process of guidance signal and extracts the differential signal of guidance signal, design the non-linear TD with finite time convergence control
Nonlinear Tracking Differentiator；
Step 3:, will for the VTOL Reusable Launch Vehicles second order Attitude control model established in step 1
Disturbance expansion is third state vector, and then designs the nonlinear extension state observer of third-order system, to realize to shape
The accurate estimation of state amount and disturbance quantity；
Step 4: the non-linear TD Nonlinear Tracking Differentiator based on the finite time convergence control separately designed in step 2 and step 3
And nonlinear extension state observer, non-linear automatic disturbance rejection controller is designed, Liapunov stability is made it have；
Step 5: for the non-linear automatic disturbance rejection controller in step 4, nonlinear Feedback Control rule is designed, to guarantee
Non-linear automatic disturbance rejection controller has the stability of quick constringency performance and entire closed-loop system.
Further, the step 1 specifically:
Attitude dynamics model in VTOL Reusable Launch Vehicles posture adjustment section flight course are as follows:
In formulaWithRepresent the rotary inertia of VTOL Reusable Launch Vehicles；WithIt represents
Rolling angular speed, yawrate and pitch rate；Q is dynamic pressure, and S is vehicle area of reference, and l is reference length, and V is speed
Degree；α is the angle of attack, and β is yaw angle；αwAnd βwFor the angle of attack caused by upper-level winds and yaw angle；WithFor longitudinal static-stability coefficient
With lateral static-stability coefficient；WithFor the damping moment coefficient of rolling, yaw and pitch orientation；MxRCS, MyRCS
And MzRCSFor the RCS control moment of three axis directions；MBX, MBYAnd MBZFor structure disturbance torque or external disturbance existing for triple channel
Torque；ForDerivative value,ForDerivative value,ForDerivative value；
The attitude kinematics model of VTOL Reusable Launch Vehicles posture adjustment section are as follows:
In formulaFor pitch angle, ψ is yaw angle, and γ is then roll angle；WithIt is respectivelyThe derivative of ψ and γ；
Definition status variableU=[MxRCS MyRCS MzRCS]T,Then by formula (1) and formula
(2) can obtain gesture stability state-space model has:
WhereinFor X1Derivative value,For X2Derivative value；And
Being further simplified can obtain:
VTOL Reusable Launch Vehicles are flown in posture adjustment inflight phase using program angle, are defined program angle state variable and areThen the design object of control system is so that quantity of state X1The tracking program corner system in finite time
Lead instruction
Further, the step 2 specifically:
The non-linear TD Nonlinear Tracking Differentiator of finite time convergence control is designed to guidance command with program angle for posture adjustment section
β in formula1> 1, α1=β1+ 1,R > 0；α1And β1Indicate power coefficient；k1And k2For
Gain coefficient；v1(t) and v2(t) it is exported for Nonlinear Tracking Differentiator, respectively guidances command transition process arranging and offer is guidanceed command
Differential signal；Indicate v1(t) derivative,Indicate v2(t) derivative；siga(x)=| x |aSign (x), sign
(x) sign function, sig are representedb(x) similarly.
Further, the step 3 specifically:
For Attitude control model formula (4), nonlinear extension state observer is designed:
Wherein z1(t), z2(t), z3(t) it respectively represents to quantity of state X1(t), X2(t) and disturbance D (t) observation； WithIndicate z1(t), z2(t) and z3(t) derivative value；η 1 (t)=X1(t), ε is to set
Count parameter；hi(x), i=1,2,3 be Lipschitz function, meets inequality | hi(a)-hi(b)|≤l0| a-b |, l0For
Lipschitz constant；hi(x) meet:
κ in formula1, κ2And κ3For gain coefficient；G (x) function are as follows:
Therefore, according to the extended state observer of above-mentioned design, z1(t) X can be estimated1(t) value, z2(t) for estimating
Count X2(t), z3(t) then for estimating disturbed value D；Its evaluated error interior at a fixed time will converge to zero domain, convergence time
TmaxThe upper bound are as follows:
σ is adjustable design parameter in formula；Thus nonlinear extension state observer design is completed.
Further, the step 4 specifically:
Firstly, for TD Nonlinear Tracking Differentiator transient signals obtained and guidanceing command differential signal and non-linear expansion
The estimated result of state observer is opened, error signal has
Defining new variable has
Consideration formula (4) then has:
WhereinFor s1(t) derivative value,For s2(t) derivative value；Then joint type (10) and formula (11) can obtain
Wherein e1(t)=ε-2(X1(t)-z1(t)), e2(t)=ε-1(X2(t)-z2(t))；
It then can finally obtain Attitude control model are as follows:
Wherein e3(t)=X3(t)-z3(t), X3(t)=D (t), eη(t)=ε-2(η1(t)-X1(t)), η1(t)=X1(t),
The non-linear automatic disturbance rejection controller that thus, it is possible to be designed:
U (t)=B-1(Φ(r1(t),r2(t))-z3(t)-F(t)) (15)
Φ (r in formula1(t),r2(t)) it is restrained for nonlinear Feedback Control.
Further, the step 5 specifically:
Φ(r1(t),r2(t))=- γ1r1(t)-fal(r1(t),ρ,δ)-γ2r2(t)-fal(r2(t),ρ,δ) (16)
Wherein, γ1And γ2For gain coefficient, fal (x, ρ, δ) function is defined as follows shown:
Wherein, 0 < ρ < 1, δ is the sampling time；
Formula (16) is updated to and can be obtained final non-linear Active Disturbance Rejection Control rule in automatic disturbance rejection controller formula (15)；Extremely
This, that is, complete the non-linear Active Disturbance Rejection Control rule design for VTOL Reusable Launch Vehicles posture adjustment section.
The invention has the benefit that the invention discloses a kind of the non-linear from anti-of VTOL Reusable Launch Vehicles
Disturb control method.The invention carries out detailed analysis first against internal and external interference torque suffered by posture adjustment section, establishes and turns around mass center
Dynamic attitude dynamic equations and attitude kinematics equations, define state vector and dominant vector, to obtain two-step shape
The Attitude control model of state space form.By by Unmarried pregnancy and external disturbance torque as the total disturbance treatment of system, because
And model foundation is simple, without relying on more accurate kinetic model and aerodynamic model.It is directed to simultaneously and guidances command easy mutation
It is influenced to control system bring, establishes the non-linear TD Nonlinear Tracking Differentiator of finite time convergence control characteristic, there is differential signal
The advantages that extraction accuracy is high, noise resisting ability is strong and signal extraction fast speed.In addition, to improve the suppression of system external portion disturbance
Aforementioned system is always disturbed and is expanded for new state variable, utilizes the expansion state with set time convergence property by ability processed
Observer carries out estimation compensation, relative to existing extended state observer, has that no system chatter, estimating speed are fast, when restraining
Between do not influenced the advantages that stronger with robustness by original state error.Into one on the basis of traditional nonlinear Feedback Control rule
Step devises novel nonlinear Feedback Control rule, improves the same of its posture response speed and automatic disturbance rejection controller robustness
When, it also can further improve the stability of closed-loop system, thus non-linear automatic disturbance rejection controller is reused in VTOL and is transported
It carries and has broad application prospects in the vertical posture adjustment section Control System Design of device.
Detailed description of the invention
Fig. 1 is a kind of process of the non-linear Auto-disturbance-rejection Control of VTOL Reusable Launch Vehicles of the present invention
Figure；
Fig. 2 is the control structure block diagram of non-linear active disturbance rejection control method.
Specific embodiment
Technical solution in the embodiment of the present invention that following will be combined with the drawings in the embodiments of the present invention carries out clear, complete
Ground description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Based on this
Embodiment in invention, every other reality obtained by those of ordinary skill in the art without making creative efforts
Example is applied, shall fall within the protection scope of the present invention.
The present invention proposes a kind of non-linear Active Disturbance Rejection Control side of VTOL Reusable Launch Vehicles combined with Figure 1 and Figure 2,
Method, comprising the following steps:
Step 1: the force analysis for VTOL Reusable Launch Vehicles posture adjustment section is as a result, establish its posture power
Model and attitude kinematics model are learned, and defines attitude angle and dominant vector, and then establish the posture of Second Order state space form
Controlling model；
Step 2: VTOL Reusable Launch Vehicles posture adjustment section directly gives program angle and guidances command, guidance command for
It arranges the transient process of guidance signal and extracts the differential signal of guidance signal, design the non-linear TD with finite time convergence control
Nonlinear Tracking Differentiator；
Step 3:, will for the VTOL Reusable Launch Vehicles second order Attitude control model established in step 1
Disturbance expansion is third state vector, and then designs the nonlinear extension state observer of third-order system, to realize to shape
The accurate estimation of state amount and disturbance quantity；
Step 4: the non-linear TD Nonlinear Tracking Differentiator based on the finite time convergence control separately designed in step 2 and step 3
And nonlinear extension state observer, non-linear automatic disturbance rejection controller is designed, Liapunov stability is made it have；
Step 5: for the non-linear automatic disturbance rejection controller in step 4, nonlinear Feedback Control rule is designed, to guarantee
Non-linear automatic disturbance rejection controller has the stability of quick constringency performance and entire closed-loop system.
The step 1 specifically:
Attitude dynamics model in VTOL Reusable Launch Vehicles posture adjustment section flight course are as follows:
In formulaWithRepresent the rotary inertia of VTOL Reusable Launch Vehicles；WithIt represents
Rolling angular speed, yawrate and pitch rate；Q is dynamic pressure, and S is vehicle area of reference, and l is reference length, and V is speed
Degree；α is the angle of attack, and β is yaw angle；αwAnd βwFor the angle of attack caused by upper-level winds and yaw angle；WithFor longitudinal static-stability coefficient
With lateral static-stability coefficient；WithFor the damping moment coefficient of rolling, yaw and pitch orientation；MxRCS, MyRCSWith
MzRCSFor the RCS control moment of three axis directions；MBX, MBYAnd MBZFor structure disturbance torque existing for triple channel or external disturbance power
Square；ForDerivative value,ForDerivative value,ForDerivative value.
The attitude kinematics model of VTOL Reusable Launch Vehicles posture adjustment section are as follows:
In formulaFor pitch angle, ψ is yaw angle, and γ is then roll angle；WithIt is respectivelyThe derivative of ψ and γ；
Definition status variableU=[MxRCS MyRCS MzRCS]T,Then by formula (1) and formula
(2) can obtain gesture stability state-space model has:
WhereinFor X1Derivative value,For X2Derivative value.And
Being further simplified can obtain:
VTOL Reusable Launch Vehicles are flown in posture adjustment inflight phase using program angle, are defined program angle state variable and areThen the design object of control system is so that quantity of state X1The tracking program corner system in finite time
Lead instruction
The step 2 specifically:
The non-linear TD Nonlinear Tracking Differentiator of finite time convergence control is designed to guidance command with program angle for posture adjustment section
β in formula1> 1, α1=β1+ 1,R > 0；α1And β1Indicate power coefficient；k1And k2For
Gain coefficient；v1(t) and v2(t) it is exported for Nonlinear Tracking Differentiator, respectively guidances command transition process arranging and offer is guidanceed command
Differential signal；Indicate v1(t) derivative,Indicate v2(t) derivative；siga(x)=| x |aSign (x), sign
(x) sign function, sig are representedb(x) similarly.
The step 3 specifically:
For Attitude control model formula (4), nonlinear extension state observer is designed:
Wherein z1(t), z2(t), z3(t) it respectively represents to quantity of state X1(t), X2(t) and disturbance D (t) observation； WithIndicate z1(t), z2(t) and z3(t) derivative value.η1(t)=X1(t), ε is to set
Count parameter；hi(x), i=1,2,3 be Lipschitz function, meets inequality | hi(a)-hi(b)|≤l0| a-b |, l0For
Lipschitz constant；hi(x) meet:
κ in formula1, κ2And κ3For gain coefficient；G (x) function are as follows:
Therefore, according to the extended state observer of above-mentioned design, z1(t) X can be estimated1(t) value, z2(t) for estimating
Count X2(t), z3(t) then for estimating disturbed value D；Its evaluated error interior at a fixed time will converge to zero domain, convergence time
TmaxThe upper bound are as follows:
σ is adjustable design parameter in formula；Thus nonlinear extension state observer design is completed.
The step 4 specifically:
Firstly, for TD Nonlinear Tracking Differentiator transient signals obtained and guidanceing command differential signal and non-linear expansion
The estimated result of state observer is opened, error signal has
Defining new variable has
Consideration formula (4) then has:
WhereinFor s1(t) derivative value,For s2(t) derivative value.Then joint type (10) and formula (11) can obtain
Wherein e1(t)=ε-2(X1(t)-z1(t)), e2(t)=ε-1(X2(t)-z2(t))；
It then can finally obtain Attitude control model are as follows:
Wherein e3(t)=X3(t)-z3(t), X3(t)=D (t), eη(t)=ε-2(η1(t)-X1(t)), η1(t)=X1(t),
The non-linear automatic disturbance rejection controller that thus, it is possible to be designed:
U (t)=B-1(Φ(r1(t),r2(t))-z3(t)-F(t)) (15)
Φ (r in formula1(t),r2(t)) it is restrained for nonlinear Feedback Control.
The step 5 specifically:
Φ(r1(t),r2(t))=- γ1r1(t)-fal(r1(t),ρ,δ)-γ2r2(t)-fal(r2(t),ρ,δ) (16)
Wherein, γ1And γ2For gain coefficient, fal (x, ρ, δ) function is defined as follows shown:
Wherein, 0 < ρ < 1, δ is generally the sampling time.
Formula (16) is updated to and can be obtained final non-linear Active Disturbance Rejection Control rule in automatic disturbance rejection controller formula (15)；Extremely
This, that is, complete the non-linear Active Disturbance Rejection Control rule design for VTOL Reusable Launch Vehicles posture adjustment section.
The present invention is longer for the existing automatic disturbance rejection controller posture response time, noise resisting ability is weak and attitude control accuracy
The disadvantages of lower and propose, by the non-linear TD Nonlinear Tracking Differentiator of finite time convergence control characteristic, set time convergent expansion shape
State observer and nonlinear Feedback Control rule combination together form novel non-linear automatic disturbance rejection controller, to improve and be
System also improves attitude control accuracy and response speed to complex external interference rejection capability.Firstly, finite time convergence control
The non-linear TD Nonlinear Tracking Differentiator of characteristic can avoid the mutation guidanceed command to control to transition process arranging is guidanceed command
The impact of system influences, while can also be quickly obtained high-precision guidance differential signal.Set time convergent expansion state
Observer is realized using simple nonlinear Lipschitz function and is guaranteed observation error smaller within the set time
Zero domain in, relative to existing extended state observer have structure is simple, design parameter is few, parameter adjustment be easy, convergence speed
Degree is fast and the features such as independent of observation initial value error.It is finally restrained, can further be mentioned based on simple nonlinear Feedback Control
High control response speed and attitude control accuracy, to preferably guarantee the stability of entire closed-loop system.
Above to a kind of non-linear Auto-disturbance-rejection Control of VTOL Reusable Launch Vehicles provided by the present invention,
It is described in detail, used herein a specific example illustrates the principle and implementation of the invention, the above reality
The explanation for applying example is merely used to help understand method and its core concept of the invention；Meanwhile for the general technology of this field
Personnel, according to the thought of the present invention, there will be changes in the specific implementation manner and application range, in conclusion this theory
Bright book content should not be construed as limiting the invention.
Claims (4)
1. a kind of non-linear Auto-disturbance-rejection Control of VTOL Reusable Launch Vehicles, it is characterised in that: including following step
It is rapid:
Step 1: the force analysis for VTOL Reusable Launch Vehicles posture adjustment section is as a result, establish its attitude dynamics mould
Type and attitude kinematics model, and attitude angle and dominant vector are defined, and then establish the gesture stability of Second Order state space form
Model；
The step 1 specifically:
Attitude dynamics model in VTOL Reusable Launch Vehicles posture adjustment section flight course are as follows:
In formulaWithRepresent the rotary inertia of VTOL Reusable Launch Vehicles；WithRepresent rolling
Angular speed, yawrate and pitch rate；Q is dynamic pressure, and S is vehicle area of reference, and l is reference length, and V is speed；α
For the angle of attack, β is yaw angle；αwAnd βwFor the angle of attack caused by upper-level winds and yaw angle；WithFor longitudinal static-stability coefficient and cross
To static-stability coefficient；WithFor the damping moment coefficient of rolling, yaw and pitch orientation；MxRCS, MyRCSAnd MzRCS
For the RCS control moment of three axis directions；MBX, MBYAnd MBZFor structure disturbance torque existing for triple channel or external disturbance torque；ForDerivative value,ForDerivative value,ForDerivative value；
The attitude kinematics model of VTOL Reusable Launch Vehicles posture adjustment section are as follows:
In formulaFor pitch angle, ψ is yaw angle, and γ is roll angle；WithIt is respectivelyThe derivative of ψ and γ；DefinitionU=[MxRCS MyRCS MzRCS]T,Posture control then can be obtained by formula (1) and formula (2)
State-space model processed has:
WhereinFor X1Derivative value,For X2Derivative value；And
Being further simplified can obtain:
VTOL Reusable Launch Vehicles are flown in posture adjustment inflight phase using program angle, are defined program angle state variable and areThen the design object of control system is so that quantity of state X1The tracking program corner system in finite time
Lead instruction
Step 2: VTOL Reusable Launch Vehicles posture adjustment section directly gives program angle and guidances command, and guidances command to arrange
The transient process of guidance signal and the differential signal for extracting guidance signal, designing, there is the non-linear TD of finite time convergence control to track
Differentiator；
Step 3: it for the VTOL Reusable Launch Vehicles second order Attitude control model established in step 1, will disturb
Expansion is third state vector, and then designs the set time convergent nonlinear extension state observer of third-order system, from
And realize the accurate estimation to quantity of state and disturbance quantity；
The step 3 specifically:
For Attitude control model, nonlinear extension state observer is designed:
Wherein z1(t), z2(t), z3(t) it respectively represents to quantity of state X1(t), X2(t) and disturbance D (t) observation； WithIndicate z1(t), z2(t) and z3(t) derivative value；η 1 (t)=X1(t), ε is design ginseng
Number；hi(x), i=1,2,3 be Lipschitz function, meets inequality | hi(a)-hi(b)|≤l0| a-b |, l0For Lipschitz
Constant；hi(x) meet:
κ in formula1, κ2And κ3For gain coefficient；G (x) function are as follows:
Therefore, according to the extended state observer of above-mentioned design, z1(t) X can be estimated1(t) value, z2(t) for estimating X2
(t), z3(t) then for estimating disturbed value D；Its evaluated error interior at a fixed time will converge to zero domain, convergence time Tmax
The upper bound are as follows:
σ is adjustable design parameter in formula；Thus nonlinear extension state observer design is completed；
Step 4: non-linear TD Nonlinear Tracking Differentiator based on the finite time convergence control separately designed in step 2 and step 3 and solid
It fixes time convergent nonlinear extension state observer, designs non-linear automatic disturbance rejection controller, it is steady to make it have Liapunov
It is qualitative；
Step 5: for the non-linear automatic disturbance rejection controller in step 4, nonlinear Feedback Control rule is designed, to guarantee non-thread
Property automatic disturbance rejection controller have quick constringency performance and entire closed-loop system stability.
2. control method according to claim 1, it is characterised in that: the step 2 specifically:
The non-linear TD Nonlinear Tracking Differentiator of finite time convergence control is designed to guidance command with program angle for posture adjustment section
β in formula1> 1, α1=β1+ 1,R > 0；α1And β1Indicate power coefficient；k1And k2For gain
Coefficient；v1(t) and v2(t) for Nonlinear Tracking Differentiator export, respectively guidance command transition process arranging and provide guidance command it is micro-
Sub-signal；Indicate v1(t) derivative,Indicate v2(t) derivative；siga(x)=| x |aSign (x), sign (x) generation
Table sign function, sigb(x) similarly.
3. control method according to claim 2, it is characterised in that: the step 4 specifically:
Firstly, for TD Nonlinear Tracking Differentiator transient signals obtained and guidanceing command differential signal and non-linear expansion shape
The estimated result of state observer, error signal have
Defining new variable has
Consideration formula (4) then has:
WhereinFor s1(t) derivative value,For s2(t) derivative value；Then joint type (10) and formula (11) can obtain
Wherein e1(t)=ε-2(X1(t)-z1(t)), e2(t)=ε-1(X2(t)-z2(t))；
It then can finally obtain Attitude control model are as follows:
Wherein e3(t)=X3(t)-z3(t), X3(t)=D (t), eη(t)=ε-2(η1(t)-X1(t)), η1(t)=X1(t), thus
The non-linear automatic disturbance rejection controller that can be designed:
U (t)=B-1(Φ(r1(t),r2(t))-z3(t)-F(t)) (15)
Φ (r in formula1(t),r2(t)) it is restrained for nonlinear Feedback Control.
4. control method according to claim 3, it is characterised in that: the step 5 specifically:
Φ(r1(t),r2(t))=- γ1r1(t)-fal(r1(t),ρ,δ)-γ2r2(t)-fal(r2(t),ρ,δ) (16)
Wherein, γ1And γ2For gain coefficient, fal (x, ρ, δ) function is defined as follows shown:
Wherein, 0 < ρ < 1, δ is the sampling time；
Formula (16) is updated to and can be obtained final non-linear Active Disturbance Rejection Control rule in automatic disturbance rejection controller formula (15)；So far,
Complete the non-linear Active Disturbance Rejection Control rule design for VTOL Reusable Launch Vehicles posture adjustment section.
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| CN108803649B (en) * | 2018-08-22 | 2019-07-09 | 哈尔滨工业大学 | A kind of VTOL Reusable Launch Vehicles active disturbance rejection sliding-mode control |
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| CN110989348B (en) * | 2019-12-10 | 2022-03-25 | 重庆大学 | Sliding mode control method of reusable carrying system based on event trigger mechanism |
| CN110879599B (en) * | 2019-12-12 | 2022-05-31 | 大连海事大学 | Fixed time formation control method based on finite time disturbance observer |
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| CN111238474A (en) * | 2020-02-05 | 2020-06-05 | 哈尔滨工业大学 | Strapdown seeker non-singular line-of-sight angular velocity extraction method based on inclined coordinate system |
| CN111506113B (en) * | 2020-05-15 | 2023-06-06 | 中国人民解放军国防科技大学 | Aircraft guidance instruction calculation method, sideslip angle calculation method and guidance method |
| CN111781941A (en) * | 2020-06-15 | 2020-10-16 | 上海航天控制技术研究所 | Aircraft rolling channel attitude control method based on sliding mode active disturbance rejection composite control |
| CN112631146B (en) * | 2020-11-27 | 2022-08-19 | 中国航发四川燃气涡轮研究院 | High-altitude platform flight height simulation control method based on cascade RLADRC |
| CN112965510B (en) * | 2021-02-08 | 2022-02-18 | 中国科学院数学与系统科学研究院 | Full-channel active disturbance rejection control method for high-speed maneuvering of aircraft |
| CN114415704A (en) * | 2021-12-16 | 2022-04-29 | 江苏大学 | Synchronous steering high-ground-clearance sprayer attitude control method based on active disturbance rejection control |
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